0
TECHNICAL PAPERS

A Repetitive Learning Method Based on Sliding Mode for Robot Control

[+] Author and Article Information
T. S. Liu, W. S. Lee

Department of Mechanical Engineering, National Chiao Tung University, Hsinchu 30010, Taiwane-mail: tsliu@cc.nctu.edu.tw

J. Dyn. Sys., Meas., Control 122(1), 40-48 (Apr 15, 1999) (9 pages) doi:10.1115/1.482427 History: Received April 15, 1999
Copyright © 2000 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Schematic diagram of direct-drive robot
Grahic Jump Location
Piecewise linear shape functions
Grahic Jump Location
The piecewise linear kernel function
Grahic Jump Location
(a) Speed profile of end-effector and (b) corresponding acceleration profile
Grahic Jump Location
Desired spatial circular trajectory
Grahic Jump Location
Control block diagram of the present method
Grahic Jump Location
Position errors in Z-axis using (a) sliding mode control and (b) the present method
Grahic Jump Location
Sliding variables in R-axis using (a) sliding mode control and (b) the present method
Grahic Jump Location
Tracking result of the first time learning in Y-Z plane
Grahic Jump Location
Tracking result of the fifth time learning in Y-Z plane
Grahic Jump Location
Position errors in Z-axis using (a) sliding mode control and (b) the present method
Grahic Jump Location
Tracking result of the first time learning in X-Z plane
Grahic Jump Location
Tracking result of the fifth time learning in X-Z plane

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In